Use underscore for system test names

Use underscore for system test names

Change the convention for system test directory names to always use an
underscore rather than a hyphen. Names using underscore are valid python
package names and can be used with standard `import` facilities in
python, which allows easier code reuse.

The temporary directories for test execution and their convenience
symlinks have been switched to using hyphens rather than underscores to
keep the pytest collection, filtering and .gitignore working as
expected.

(cherry picked from commit 9f4c1d1993fe624c5d68cbc51521dd4761513cd2)